version: 66.07
glider: 542
mission: 6
dive: 80
start: 12 21 112 22 7 0
data:
$ID,542
$MISSION,6
$DIVE,80
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,348
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52816
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,563.99261
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10575.204
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2923
$C_ROLL_CLIMB,2734
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2820
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.034508
$PRESSURE_SLOPE,0.00011816985
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,211212,215601,-4631.381,402.608,42,1.0,42,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-30.4
$GPS2,211212,220559,-4631.382,402.653,23,1.5,23,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.158,0.071
$KALMAN_X,-57317.7,566.9,232.0,38367.5,-5421.6
$KALMAN_Y,20720.5,-122.8,-44.5,16302.1,1623.5
$MHEAD_RNG_PITCHd_Wd,89.3,4241,-27.2,-10.010
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.81,-63.1,0.0,0.0,0,170,0.00,0.00,-134.70,0.000,6,0.000,0.000,55,2940,3078,0,0,0,0,0,0
$GC,176,-0.89,-124.8,3.1,-3.4,18,195,6.22,1.60,-7.12,0.000,4,0.248,0.079,1572,3899,3331,0,0,0,0,0,0
$GC,474,-0.89,-124.8,60.6,-18.5,65,479,0.00,1.50,0.00,0.000,6,0.000,0.033,1572,2917,3332,0,0,0,0,0,0
$GC,820,-0.89,-124.8,122.8,-18.2,111,824,0.00,2.10,0.00,0.000,4,0.000,0.037,1572,1528,3333,0,0,0,0,0,0
$GC,878,-0.89,-124.8,133.1,-16.0,114,883,0.00,2.22,0.00,0.000,6,0.000,0.051,1562,2914,3333,0,0,0,0,0,0
$GC,1201,-0.89,-124.8,189.1,-17.5,134,1203,0.00,0.00,0.00,0.000,6,0.000,0.000,1562,2914,3333,0,0,0,0,0,0
$GC,1512,-0.89,-124.8,244.1,-17.4,154,1516,0.00,1.55,0.00,0.000,4,0.000,0.058,1555,3894,3333,0,0,0,0,0,0
$GC,1698,-0.89,-124.8,277.8,-18.1,163,1702,0.00,1.48,0.00,0.000,6,0.000,0.034,1555,2918,3333,0,0,0,0,0,0
$GC,2036,-0.89,-124.8,333.2,-16.7,179,2039,0.00,1.58,0.00,0.000,4,0.000,0.058,1547,3896,3333,0,0,0,0,0,0
$GC,2086,-0.89,-124.8,341.9,-17.4,181,2090,0.10,1.48,0.00,0.000,6,0.197,0.034,1574,2925,3333,0,0,0,0,0,0
$GC,2424,-0.89,-124.8,393.3,-15.1,197,2427,0.00,1.58,0.00,0.000,4,0.000,0.060,1568,3899,3333,0,0,0,0,0,0
$GC,2454,-0.89,-124.8,398.6,-15.6,198,2458,0.00,1.48,0.00,0.000,6,0.000,0.034,1569,2922,3333,0,0,0,0,0,0
$GC,2780,-0.89,-124.8,450.9,-16.3,209,2784,0.00,1.58,0.00,0.000,4,0.000,0.060,1561,3896,3334,0,0,0,0,0,0
$GC,2809,-0.89,-124.8,456.3,-17.7,209,2816,0.00,1.48,0.00,0.000,6,0.000,0.034,1561,2915,3333,0,0,0,0,0,0
$GC,3126,-0.89,-124.8,510.7,-17.3,220,3130,0.00,2.08,0.00,0.000,4,0.000,0.039,1561,1525,3333,0,0,0,0,0,0
$GC,3149,-0.89,-124.8,515.4,-17.4,220,3157,0.12,2.20,0.00,0.000,6,0.214,0.053,1578,2923,3333,0,0,0,0,0,0
$GC,3464,-0.89,-124.8,563.0,-15.0,231,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2923,3333,0,0,0,0,0,0
$GC,3771,-0.89,-124.8,606.7,-14.1,241,3772,0.00,0.00,0.00,0.000,6,0.000,0.000,1578,2923,3333,0,0,0,0,0,0
$GC,4077,-0.89,-124.8,648.8,-13.6,251,4081,0.00,2.12,0.00,0.000,4,0.000,0.039,1578,1533,3332,0,0,0,0,0,0
$GC,4123,-0.89,-124.8,655.1,-12.3,252,4127,0.00,2.20,0.00,0.000,6,0.000,0.054,1569,2928,3332,0,0,0,0,0,0
$GC,4455,-0.89,-124.8,700.8,-13.8,263,4456,0.00,0.00,0.00,0.000,6,0.000,0.000,1569,2928,3332,0,0,0,0,0,0
$GC,4761,-0.89,-124.8,742.4,-13.8,273,4765,0.00,2.10,0.00,0.000,4,0.000,0.038,1569,1527,3332,0,0,0,0,0,0
$GC,4785,-0.89,-124.8,746.1,-14.2,273,4792,0.00,2.20,0.00,0.000,6,0.000,0.054,1558,2923,3331,0,0,0,0,0,0
$GC,5102,-0.89,-124.8,791.3,-14.7,284,5106,0.00,2.15,0.00,0.000,4,0.000,0.039,1558,1525,3331,0,0,0,0,0,0
$GC,5159,-0.89,-124.8,799.6,-13.5,285,5167,0.12,2.20,0.00,0.000,6,0.213,0.054,1576,2922,3331,0,0,0,0,0,0
$GC,5474,-0.89,-124.8,839.3,-12.7,296,5478,0.00,2.15,0.00,0.000,4,0.000,0.039,1576,1524,3331,0,0,0,0,0,0
$GC,5509,-0.89,-124.8,843.9,-11.9,297,5513,0.00,2.22,0.00,0.000,6,0.000,0.054,1567,2926,3330,0,0,0,0,0,0
$GC,5841,-0.89,-124.8,886.0,-12.6,308,5845,0.00,2.12,0.00,0.000,4,0.000,0.037,1567,1525,3330,0,0,0,0,0,0
$GC,5876,-0.89,-124.8,890.5,-12.0,309,5880,0.00,2.22,0.00,0.000,6,0.000,0.054,1556,2929,3330,0,0,0,0,0,0
$GC,6208,-0.89,-124.8,932.5,-12.9,320,6212,0.00,2.12,0.00,0.000,4,0.000,0.037,1556,1526,3330,0,0,0,0,0,0
$GC,6265,-0.89,-124.8,939.7,-11.7,321,6273,0.15,2.20,0.00,0.000,6,0.211,0.054,1581,2924,3330,0,0,0,0,0,0
$GC,6580,-0.89,-124.8,974.1,-11.1,332,6584,0.00,2.12,0.00,0.000,4,0.000,0.039,1581,1525,3330,0,0,0,0,0,0
$GC,6626,-0.89,-124.8,979.4,-10.7,333,6630,0.00,2.22,0.00,0.000,6,0.000,0.054,1571,2926,3329,0,0,0,0,0,0
$STATE,6820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6820,begin apogee
$GC,6831,-0.19,0.0,1002.5,11.9,340,6962,0.80,0.00,127.43,1.240,6,0.188,0.000,1801,2748,2819,0,0,0,0,0,0
$STATE,6964,end apogee,CONTROL_FINISHED_OK
$STATE,6964,begin climb
$GC,6968,0.89,124.8,1004.6,0.0,344,7111,1.00,2.15,124.12,1.805,4,0.056,0.057,2165,3893,2312,0,0,0,0,1,0
$GC,7131,0.89,124.8,970.1,30.9,349,7138,0.00,1.98,0.00,0.000,6,0.000,0.038,2174,2749,2312,0,0,0,0,0,0
$GC,7447,0.89,124.8,872.1,31.5,360,7449,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2744,2305,0,0,0,0,0,0
$GC,7752,0.89,124.8,776.6,31.1,370,7756,0.00,2.28,0.00,0.000,4,0.000,0.047,2185,1322,2303,0,0,0,0,0,0
$GC,7798,0.89,124.8,762.2,28.6,371,7803,0.00,2.35,0.00,0.000,6,0.000,0.052,2185,2745,2301,0,0,0,0,0,0
$GC,8119,0.89,124.8,660.9,32.0,382,8123,0.00,2.30,0.00,0.000,4,0.000,0.047,2195,1316,2300,0,0,0,0,0,0
$GC,8165,0.89,124.8,646.1,30.7,383,8170,0.17,2.33,0.00,0.000,6,0.258,0.051,2160,2740,2300,0,0,0,0,0,0
$GC,8487,0.89,124.8,552.0,29.2,394,8491,0.00,2.28,0.00,0.000,4,0.000,0.046,2169,1313,2299,0,0,0,0,0,0
$GC,8522,0.89,124.8,541.6,27.7,395,8526,0.00,2.30,0.00,0.000,6,0.000,0.052,2165,2745,2299,0,0,0,0,0,0
$GC,8854,0.89,124.8,448.1,28.0,406,8855,0.00,0.00,0.00,0.000,6,0.000,0.000,2165,2745,2299,0,0,0,0,0,0
$GC,9161,0.89,124.8,361.5,28.7,418,9165,0.00,2.25,0.00,0.000,4,0.000,0.046,2174,1316,2299,0,0,0,0,0,0
$GC,9191,0.89,124.8,353.0,26.3,419,9195,0.00,2.28,0.00,0.000,6,0.000,0.052,2172,2735,2298,0,0,0,0,0,0
$GC,9517,0.89,124.8,262.1,28.3,435,9521,0.00,2.25,0.00,0.000,4,0.000,0.048,2182,1314,2297,0,0,0,0,0,0
$GC,9537,0.89,124.8,255.7,28.7,436,9541,0.00,2.28,0.00,0.000,6,0.000,0.053,2182,2738,2297,0,0,0,0,0,0
$GC,9860,0.89,124.8,167.6,26.8,456,9863,0.00,1.83,0.00,0.000,4,0.000,0.058,2182,3897,2297,0,0,0,0,0,0
$GC,9882,0.89,124.8,162.1,27.3,457,9886,0.15,1.83,0.00,0.000,6,0.272,0.041,2161,2720,2297,0,0,0,0,0,0
$GC,10209,0.89,124.8,79.8,22.2,486,10218,0.00,2.17,0.00,0.000,4,0.000,0.046,2170,1334,2297,0,0,0,0,0,0
$GC,10262,0.89,124.8,69.3,18.6,494,10269,0.00,2.22,0.00,0.000,6,0.000,0.051,2169,2736,2296,0,0,0,0,0,0
$STATE,10552,end climb,SURFACE_DEPTH_REACHED
$STATE,10552,begin surface coast
$FINISH,0.4,1.026575
$STATE,10572,end surface coast,CONTROL_FINISHED_OK
$STATE,10572,begin surface
$SM_CCo,10594,187.57,0.796,1,0,515,564.18
$SM_GC,0.95,0.00,0.00,187.57,0.000,0.000,0.796,61,2943,515,-5.65,0.57,564.18
$IRIDIUM_FIX,-4613.60,400.91,211212,181810
$TT8_MAMPS,0.026215
$HUMID,56.22
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,22.1,17.286
$10V_AH,10.1,7.445
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,14.650,89.850,251.550,187.575,0.000,27.120,41.266,320.984,0.000,0.000,29.084,1366.794,7049.182,570.915,1861.792,537.042,33.360,1236.908,0.000,1437.717,0.000,1.009,0.000
$DEVICE_MAMPS,272.340,78.795,1805.400,796.365,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,358.117,1106.440,617.474,258.595,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354308
$DATA_FILE_SIZE,40441,545
$CAP_FILE_SIZE,92209,0
$CFSIZE,259252224,223412224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,221212,010804,-4630.427,403.536,30,0.9,30,-23.3